WO2017080709A1

WO2017080709A1 - Method, computer program product, device, and vehicle comprising the device for controlling a trajectory planning process of an ego-vehicle

Info

Publication number: WO2017080709A1
Application number: PCT/EP2016/072801
Authority: WO
Inventors: Christoph Hellfritsch; Cristina Menendez; Christian Rathgeber; Franz Winkler
Original assignee: Bayerische Motoren Werke Aktiengesellschaft
Priority date: 2015-11-09
Filing date: 2016-09-26
Publication date: 2017-05-18
Also published as: US20180253103A1; CN108137051A; EP3374240A1; CN108137051B; US10739778B2; EP3374240B1; DE102015221920A1

Abstract

The invention relates to a method for controlling a trajectory planning process of an ego-vehicle (102), having the following steps: determining (202) a longitudinal movement of the ego-vehicle (102), said longitudinal movement comprising a speed of the ego-vehicle (102); determining (204) a longitudinal movement of an object, said longitudinal movement comprising a speed of the object; calculating (206) a target trajectory of the object on the basis of a predicted trajectory of the object; calculating (208) an end time of a maneuvering process of the ego-vehicle (102), the end time of the maneuvering process being a point in time at which a differential speed between the ego-vehicle (102) and the object is dissipated; calculating (210) a distance between a position of the ego-vehicle (102) and the position of a third-party vehicle (104) with respect to the calculated target trajectory at the calculated end time of the maneuvering process of the ego vehicle (102); and if the calculated distance of the ego-vehicle (102) at the calculated end time of the maneuvering process equals a specified threshold or falls below a specified threshold: setting the specified speed of the object as the target speed of the ego-vehicle (102) and transmitting the target speed to the trajectory planning process in order to calculate a following trajectory for the ego-vehicle (102).

Description

A method, computer program product, apparatus, and vehicle comprising the apparatus for controlling a trajectory planning of an ego vehicle

The invention relates to a method for controlling a trajectory planning of a vehicle, in particular an ego vehicle. Furthermore, the invention relates to a computer program product, a device and a vehicle comprising the device for controlling a

Trajectory planning of an ego vehicle.

Future driver assistance systems, FAS for short, can support a driver more than today's rule-based ones by precisely planning the trajectory to be traveled

Systems. Current control solutions of an active cruise control of vehicles usually use only one controller, which depends on a situation

can be parameterized differently. For highly automated driving functions, an exact planning of the trajectory to be traveled may be absolutely necessary. However, planning a trajectory which can be implemented by the vehicle and is comfortable can be associated with considerable computational effort. The computational effort can continue to increase significantly if, for example, trajectories for different travel modes have to be calculated and evaluated by the trajectory planning. This computational effort can be so high that the trajectory on ECUs of the vehicle can not be calculated or only with considerable delay.

It is therefore an object of the invention to efficiently improve control of trajectory planning of a vehicle, in particular an ego vehicle.

This object is achieved by the features of the independent claims. Advantageous embodiments and modifications of the invention will become apparent from the dependent

Claims.

According to one aspect, the invention is characterized by methods for controlling a trajectory planning of a vehicle, in particular an ego vehicle. The method includes determining a longitudinal motion of the ego vehicle, the longitudinal motion comprising a speed of the ego vehicle. The method further comprises determining a longitudinal movement of an object, wherein the longitudinal movement is a speed of the Object includes. Preferably, the object is a vehicle, eg a motor vehicle or a motorcycle. The method includes calculating a target trajectory of the object based on a predicted trajectory of the object. A predicted trajectory is a trajectory which, for example, is predetermined by means of a movement model of the object or

is calculated in advance. For this, assumptions can be made regarding an acceleration, a velocity, and / or a position of the object. For example, a target trajectory may include a safety margin to be maintained between the object and the ego vehicle at the end of a maneuver, particularly a predetermined maneuver. The method further comprises calculating an end time of a maneuver of the ego vehicle, wherein the end time of the maneuver is a time at which a differential speed between the ego vehicle and the object is degraded. The method includes calculating a distance between a position of the

Ego vehicle and a position of the foreign vehicle with respect to the calculated target trajectory at the calculated end time of the maneuver of the ego vehicle, and if the calculated distance of the ego vehicle at the calculated end time of the maneuver is equal to a predetermined threshold or below a predetermined threshold, setting the determined speed of the object as Target speed of the ego vehicle, and passing the target speed to a trajectory planning for calculating a following travel trajectory for the ego vehicle. The predetermined threshold value can be a predetermined safety distance. The predetermined safety distance can be dynamic and / or static. For example, the predetermined safety distance can be determined as a function of the speed of the object and / or the ego vehicle. The threshold value can be determined by a hysteresis function, in particular by a hysteresis function of the safety distance. Calculating the predetermined threshold by means of a hysteresis function can prevent a continuous toggling, a so-called toggling, between a free ride and a following run. The

This allows the vehicle to be steered with a higher level of comfort.

Advantageously, by determining an end time and calculating a distance to the determined end time, it may be efficiently determined whether the ego vehicle is capable of maneuvering in free-ride or in-line driving. If the distance to the end time is equal to a predetermined threshold or a predetermined threshold

falls below the target speed of the ego vehicle only to a maximum of

Speed of the object to be selected, for example, falls below a Safety distance and / or a collision with a moving in the front of the ego vehicle object to prevent. The ego vehicle may switch from a free ride mode to a follower drive mode at a current distance, at a calculated distance equal to or less than a predetermined threshold. Thus, the ego vehicle can anticipate in the longitudinal direction of a possible future movement of the object already at the current time and

react accordingly, e.g. in which the speed of the object is selected as the target speed. A following mode of travel of the ego vehicle can be recognized efficiently and in a forward-looking manner. Thus, trajectory planning can be efficiently controlled by scheduling one or more consecutive travel trajectories at the particular target speed. Further trajectories, in particular free-trajectories, need not be calculated by the trajectory planning, since it was determined prior to trajectory planning that the ego vehicle is in a follow-on mode.

According to an advantageous embodiment, the predicted trajectory can be determined based on a given model of movement of the object as a function of the determined longitudinal movement of the object, and / or the target trajectory can take into account a safety distance to the object, and / or can the predetermined threshold be

Safety distance correspond. Due to the given motion model, a future behavior of the object in the longitudinal direction can be efficiently calculated. Furthermore, by taking into account a safety distance the usual in road traffic

Safety parameters are directly involved in controlling the trajectory planning of the vehicle.

According to a further advantageous embodiment, the end time of the maneuver can be calculated based on a movement model of the object and a movement model for the ego vehicle. By using motion models, a future behavior of the ego vehicle and the object can be efficiently determined or calculated.

According to a further advantageous embodiment, the movement model of the object can keep an acceleration of the object constant up to a predetermined time and set the acceleration to 0 after the predetermined time. Furthermore, the

Movement model of the ego vehicle a given mean acceleration of the Keep the vehicle to the end of the maneuver. Hereby can with little

Computational effort a future acceleration behavior for the object and the ego vehicle are calculated.

According to a further advantageous embodiment, the position of the ego vehicle can be calculated by the movement model of the ego vehicle based on the determined longitudinal movement of the ego vehicle at the end time of the maneuver. Further, the position of the object may be determined by the model of motion of the object based on the determined

Longitudinal movement of the object can be calculated at the end time of the maneuver. Hereby, starting from the current longitudinal movement of the ego vehicle and the object, the position and thus also the distance to the end time of the maneuver between the

Ego vehicle and the object can be easily calculated.

According to a further advantageous embodiment, the method may include receiving a desired speed of the ego vehicle, and / or, if the desired speed of the ego vehicle is less than the speed of the object and / or the calculated distance of the ego vehicle at the calculated end time of the maneuver a predetermined

Threshold, e.g. exceeds a predetermined safety distance, equates to setting the desired speed as the target speed of the ego vehicle, and / or if the desired speed of the ego vehicle is greater than the speed or equal to the speed of the object and / or equal to the calculated distance of the ego vehicle at the calculated end time of the maneuver is a predetermined threshold value or falls below a predetermined threshold value, a setting of the speed of the object as the target speed of the ego vehicle. Hereby, a free ride or a free ride mode and / or a follower drive or a follower drive mode of the ego vehicle can be determined efficiently.

According to a further advantageous embodiment, the method may further comprise passing the target speed to a trajectory planning for calculating a following travel trajectory for the ego vehicle if the calculated distance of the ego vehicle to the

calculated end time of the maneuver is equal to a predetermined threshold or below a predetermined threshold, and / or passing the

Target speed to a trajectory planning for calculating a free-ride trajectory for the ego vehicle, if the desired speed of the ego vehicle smaller than that Speed of the object or the calculated distance of the ego vehicle to the calculated end time of the maneuver exceeds a predetermined threshold.

Hereby a trajectory planning can be controlled efficiently. In particular, free travel and trajectory planning for free travel can be efficiently determined. As a result, it is no longer necessary to plan trajectories for both travel modes, free travel and follow-on travel. Thus, the trajectory planning resource efficient planning the trajectories on a control unit for only the free ride or the following trip of the Egofahrtzeugs.

According to a further aspect, the invention is characterized by a

A computer program product for controlling a trajectory planning of an ego vehicle, the computer program product comprising instructions which, when executed on a computer

Control unit or a computer of the ego vehicle to carry out the method described above.

According to a further aspect, the invention is characterized by a device for controlling a trajectory planning of an ego vehicle, wherein the device is designed to carry out the method described above.

According to a further aspect, the invention is characterized by a vehicle comprising a device for controlling a trajectory planning of an ego vehicle, wherein the device is designed to carry out the method described above.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. All the features mentioned above in the description and

Feature combinations as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures can be used not only in the respectively specified combination but also in other combinations or in isolation.

Hereinafter, a preferred embodiment of the invention will be described with reference to the accompanying drawings. This results in further details, preferred embodiments and further developments of the invention. In detail, show schematically

1 shows an exemplary traffic situation,

FIG. 2 shows an exemplary method for controlling trajectory planning. FIG. 3 shows an exemplary course of speed between an ego vehicle and an object, and

4 shows an exemplary course of trajectories of an ego vehicle and of an object.

Regardless of the optimization method used, a calculation of a drivable trajectory can be associated with a considerable amount of computation. A realization of the calculation of a drivable trajectory can very quickly reach the limits of the computations that can be calculated in the vehicle. For this reason, measures must be taken for the calculation or planning of trajectories in order to reduce a calculation effort for the calculation of a drivable trajectory.

A global optimization of a trajectory trajectory in the entire solution space in compliance with all constraints can not be implemented on ECUs of a vehicle, since the computational effort for a global optimization can be too high. In order to reduce the computational effort, a procedure preceding the trajectory planning can be carried out. The aim of the upstream method is to specify parameters within which a subsequent trajectory planning can plan a trajectory to be traveled by a vehicle. In other words, a solution space for trajectory planning can be restricted by the upstream method. Trajectories that are not possible can be excluded by the upstream process, so that the computational effort for the downstream trajectory planning can be efficiently reduced.

For the description of the position and movement of one's own vehicle, also called ego vehicle, and other road users, also referred to below as object or other vehicle, simplifying assumptions can be made. Within the upstream process, a solution space in the transverse direction can be discretized. For example, only lane centers may be considered as the target of a trajectory to be calculated. For the time of a lane change both lanes, i. the current lane and the

Target lane, as assumed to be occupied.

1 shows an exemplary traffic situation 100. The vehicle 102 is the ego vehicle. The vehicles 104, 106, and 108 are foreign vehicles. For better illustration, the lanes are numbered from i = 1 to i = 3. On the lane i = 1 no object, eg another foreign vehicle, is present. For this reason, a phantom vehicle 1 10 on the track i = 1 assumed the roadway. The phantom vehicle 1 10 can be at the edge of

Detection area of an environment sensor of the ego vehicle 102 are placed. Thus, vehicles are present on all lanes of the roadway.

FIG. 2 shows an exemplary upstream method 200. Depending on the upstream method 200, the trajectory planning may plan a trajectory to be traveled for the ego vehicle. The upstream process 200 may thus control the downstream trajectory planning. The method 200 may preferably be executed by the ego vehicle only if at least one predetermined safety distance to a preceding object is given. If there is no predetermined margin in executing the method, the method 200 may not be performed. In this case, the ego vehicle is in a sequential drive mode and the downstream trajectory planning may schedule or calculate a follow-on trajectory for the ego vehicle.

The method 200 may determine a longitudinal movement of the ego vehicle 102 at a current time 202, e.g. measured by a sensor system of the ego vehicle 102. The longitudinal movement of the ego vehicle 102 may include an acceleration, a speed, and / or a position of the ego vehicle 102. The method 200 may further include longitudinal movement of an object, e.g. another vehicle 104-1010, determine 204, e.g. through the sensors of the ego vehicle. The longitudinal movement of the object may include a position, a velocity, and / or an acceleration of the object.

The longitudinal movement of the ego vehicle 102 and a foreign vehicle can be calculated by means of a respective movement model. In detail, the longitudinal movement of the foreign vehicles or objects can, assuming a constant, measured

Accelerations s _objfi starting from the measured initial velocity s _gbjfi and initial position s _{obj 0} with

^ ^• (= ^, 0 + ^, 0 ^ for ί <(1)

or S ^' obj ( ⁼ ^ objfi ~ * ~ ^ ^' objfi ^' t const ff uf t> t _cons (2) 1 .. 2

^S obj (0 ⁼ obj, o ⁺ bj, o ^' t ⁺ s _o bj, o ^' t for t <honst (3) or

'onst I 2 ^' ·· ^' h ² onst

⁺ (bj, 0 ⁺ Kbj, 0 ^' honst ^' (t ^~ honst) for ^ honing ■ (4)

The ego vehicle movement follows the same way

^ ego (0 ^- ^ ego, 0 ⁺ ^ ο, Ο ^' ^ (5)

respectively.

S _EC o ⁽⁰ = * ego, 0 + s ego, ego 0 *, 0 (6)

The method 200 may be performed for one or more drivable lanes of a road. For which objects the method 200 is executed may depend on a given maneuver. Possible maneuvers may be a lane keeping or a lane change of the ego vehicle. Furthermore, the method 200 may consider objects that are in one

Maneuver space of the ego vehicle penetrate. For example, if an object intrudes into a lane of the ego vehicle, then the method 200 may be performed for that object. By maneuver-dependent selection of the objects, the number of objects for which the method 200 is executed can be efficiently reduced.

For a track, a fore vehicle and a predicted trajectory can be added to the

Front vehicle to be determined. From the predicted trajectory you can use a

Distance law derived a necessary trajectory. For example, the usual in road traffic 2s rule for calculating a target trajectory can be applied to calculate a safety margin. The 2s rule states that as a safety margin between two vehicles outside built-up areas one in 2 seconds driven route should be selected. For example, the usual in road traffic 2s rule used and the target trajectory with

206. The static parameter describes one to be observed

Safety distance at standstill. If no front vehicle is present, a virtual phantom object can be assumed at the edge of the detection range of the surroundings sensor system. This vehicle is assumed to have a worst-case speed and thus makes it possible to avoid so-called Inevitible Collision States, or ICS for short. These states describe situations in which a collision can no longer be avoided, no matter which trajectory is planned.

The method 200 may first check for longitudinal movement and may do so

Subsequently, optionally overlap longitudinal movement with a transverse movement. For the

Longitudinal movement is to decide whether to respond to a vehicle in the foreground, that is, whether a subsequent trip is present, or whether to a predetermined target speed, for example, a predetermined desired speed to be guided, ie whether a free ride is present. The duration to catch up with the respective preceding vehicle can result from a consideration of the relative speed between the ego vehicle 1 02 and one of the other vehicles 104, 106, 108. In this case, the target trajectory (7) can be used. At the end of a maneuver, ie at time t _e , _s , i, the differential speed should be reduced. This results in the requirement el 0 = t _etSti ) = S _obj - (t = t _etSti ) - S _ego (t = t _etSti ) = 0. _(8th)

The speed of the _ego vehicle _{ego 0} is given correspondingly (5). For s _{ego (j} , a mean deceleration or a mean acceleration s _apx , depending on

whether the current differential speed is negative or positive, consider:

where _{max +} the average acceleration of the ego vehicle 102 and s _max _ the mean

Delay of the ego vehicle 102 is. By solving (8) it is possible to use the

Maneuver duration t _e , _s , i and / or calculate an end time of the maneuver 208. This value corresponds to a time-to-collision, TTC for short. If the value is negative, the maneuver can be impossible and excluded from the solution space. If there are several positive solutions, the smallest value can be selected. Fig. 3 shows an exemplary

Velocity plot 300 based on a motion model of an object and a motion model of the ego vehicle. The ego vehicle 102 delays with a medium delay, so that the speed of the ego vehicle decreases continuously (see 302). The object continuously delays until a predetermined time t _k0 nst and then holds the speed (see 304). At time t _e , _s , i, the speed profiles of the ego vehicle and of the object intersect. At this time, ie at the time t _e , _s , i, the

Method 200 checks whether a distance between the ego vehicle and the object corresponds to the predetermined safety distance of the target trajectory. The distance can

for example, with formula (10), see below. If the distance violates the predetermined safety distance, i. the distance equal to the given

Safety distance is or falls below the predetermined safety distance, the ego vehicle can switch to a subsequent drive.

The necessary distance for the maneuver can be calculated or calculated by inserting the maneuver time into the equation of the difference distance 210:

^S rel ( ^{t = t} e, _S , _l = ^S

- ^S e _g o ( ^t - (10)

A reaction to the object by a delay or acceleration can thus only be necessary when this equation becomes 0. When the equation (10) becomes 0, the ego vehicle 102 is in the following running mode and the target speed can be

Object speed 212. The method 200 may transmit the target velocity to the trajectory planning for calculation of a follow-on trajectory 214. The Trajectory planning may plan one or more follow-on trajectories along which the vehicle may travel.

FIG. 4 shows exemplary trajectory curves 400 relating to a maneuver of a

Ego vehicle using the motion models of the ego vehicle 102 and an object, e.g. one of the foreign vehicles 104 to 110. A trajectory of the maneuver of the ego vehicle shows 402, a predicted trajectory of the object shows 404, and a

Target trajectory including a safety margin shows 406. As shown in FIG. 4, the distance between the trajectory of the ego vehicle 102 and the target trajectory is

End time t _e , _s , i of the maneuver is equal to 0, ie the distance is equal to the predetermined safety distance. The ego vehicle may switch to a follower mode.

As long as the front vehicle is still too far away for a follow-up ride and the

Difference distance s _re i is greater than 0 or if no front vehicle is present or the desired speed is below the object speed can be accelerated or decelerated to the target speed s _wmsch . The desired speed can be from a

Driver default or by a superimposed driver assistance system result. To determine the desired speed, for example, a future road _curvature K _{s can be} taken into account in order to limit s _wmsch if necessary:

S wish

Depending on the coefficient of friction μ, a maximum curve speed limit can result. Alternatively, instead of / Jg, a maximum lateral acceleration can be used. For the resulting desired speed also a necessary maneuvering time can be calculated: S - S

wish ego, 0

it I

(12)

apx

Here, too, a mean acceleration s _{apx can be} assumed. Depending on whether you want to delay or accelerate, you can select a negative or positive value for the mean acceleration:

If the currently considered track i does not correspond to the current traffic lane, the calculated longitudinal movement can be superposed with a transverse movement of the lane change. For a lane change on the track i results in the minimum time through

In this case d, the target cross-offset of the selected target track, d _ego , o corresponds to the measured

Querablage and d _apx the desired mean lateral acceleration. Here, a coming from behind vehicle can be considered. By means of a simple distance law can be checked whether the lane change is possible. For a vehicle arriving from the rear, a phantom object can also be assumed.

The method may be for the current track and / or for further about the current track

lying tracks are performed. A selection of the optimal maneuver can using the following cost functions or valuation function:

• · 2 * * 2

J i ⁼ kspur (keel ~ 0 ⁺ (notch) (15)

The cost function or valuation function allows a weighting between

Deviations from the target speed s _WMSA and deviations from the target track _Z i iei. Of the

Parameter k _spU r is the weighting factor for the deviation between the target track and the selected track and k _{v is} the weighting factor for deviations between the

Target speed and selected speed s _t . Not possible maneuvers, eg maneuvers with negative target times, are not considered. For example, if there is no possible maneuver, the algorithm can be re-executed with increased accelerations or decelerations to assess safety maneuvers or initiate an emergency maneuver. The most favorable maneuver in the sense of the cost function can be attached to the subordinate one

Trajectory planning, so that the trajectory planning can plan one or more free-motion trajectories for the ego vehicle.

By the method 200, possible trajectories along which the ego vehicle 102 can travel may be limited to trajectories ending on the current lane of the ego vehicle or terminating in the right lane of the ego vehicle. A

Calculation of trajectories ending on the left lane can thus be avoided in the example of FIG. By taking into account the maximum possible delays, the time horizon of the trajectories can also be estimated. Trajectories that have to build or break down large differential speeds within a very short time can be excluded as well as lane changes in too short time intervals. Thus, in the example of FIG. 1, a lane change to the right neighbor lane may result as a solution.

Advantageously, the method 200 can efficiently determine a follow-up drive or free ride of the ego vehicle using a motion model.

This allows trajectory planning to accurately calculate trajectories for a particular ride mode. A consideration of the other driving mode must not be performed become. The trajectory planning can thus be performed more efficiently, in particular more resource-efficient, on ECUs.

LIST OF REFERENCE NUMBERS

100 traffic situation

102 ego vehicle

104 other vehicle

106 Foreign vehicle

108 Foreign vehicle

1 10 phantom vehicle

200 procedures

202 determining a longitudinal movement of an ego vehicle

204 determining a longitudinal movement of an object

206 calculating a target trajectory

208 calculating an end time of a maneuver

210 Calculate a distance to the calculated end time

212 Set the target speed

214 Passing / transmitting the target speed to a trajectory planning

300 exemplary speed course

302 Speed profile of an ego vehicle

304 Speed history of an object

400 trajectory course

402 trajectory of a maneuver

404 predicted trajectory

406 target trajectory

Claims

claims

1 . A method (200) for controlling a trajectory planning of an ego vehicle, the method comprising:

Determining (202) a longitudinal movement of the ego vehicle, the longitudinal movement comprising a speed of the ego vehicle;

Determining (204) a longitudinal movement of an object, the longitudinal movement comprising a speed of the object;

Calculating (206) a target trajectory of the object based on a predicted trajectory of the object;

Calculating (208) an end time of a maneuver of the ego vehicle,

wherein the end time of the maneuver is a time at which a

Differential speed between the ego vehicle and the object is reduced;

Calculating (210) a distance between a position of the ego vehicle and a position of the foreign vehicle with respect to the calculated target trajectory at the calculated end time of the maneuver of the ego vehicle; and

If the calculated distance of the ego vehicle at the calculated end time of the maneuver is equal to a predetermined threshold value or falls below a predetermined threshold value:

Set (212) the determined speed of the object as

Target speed of the ego vehicle; and

Transmitting (214) the target speed to the trajectory planning for calculating a following travel trajectory for the ego vehicle.

2. The method of claim 1, wherein the predicted trajectory is determined based on a given motion model of the object as a function of the determined longitudinal motion of the object; and or

wherein the target trajectory takes into account a safety distance to the object;

and or

wherein the predetermined threshold corresponds to the safety distance.

3. The method according to any one of the preceding claims, wherein the end time of the

Maneuver is calculated based on a movement model of the object and a movement model for the ego vehicle.

4. The method of claim 3, wherein the motion model of the object keeps an acceleration of the object constant up to a predetermined time and after the predetermined time, the acceleration is set to 0; and

wherein the movement model of the ego vehicle has a predetermined mean

Acceleration of the ego vehicle stops until the end of the maneuver.

5. The method of claim 1, wherein the position of the ego vehicle is calculated by the movement model of the ego vehicle based on the determined longitudinal movement of the ego vehicle at the end time of the maneuver; and

wherein the position of the object is calculated by the motion model of the object based on the determined longitudinal motion of the object at the end time of the maneuver.

A method according to any one of the preceding claims, the method further comprising:

Receiving a desired speed of the ego vehicle; and or

If the desired speed of the ego vehicle is less than the speed of the

Object and / or the calculated distance of the ego vehicle to the calculated end time of the maneuver exceeds a predetermined threshold,

Setting the desired speed as the target speed of the ego vehicle; and or

If the desired speed of the ego vehicle is greater than the speed or equal to the speed of the object and / or the calculated distance of the ego vehicle at the calculated end time of the maneuver is equal to a predetermined threshold value or falls below a predetermined threshold value,

Set the speed of the object as the target speed of the ego vehicle.

The method of claim 6, the method further comprising:

Transmitting the target speed to a trajectory planning for calculating a free-ride trajectory for the ego vehicle if the desired speed of the ego vehicle is less than the speed of the object or the calculated distance of the ego vehicle to the calculated end time of the maneuver exceeds the predetermined threshold.

8. A computer program product for controlling a trajectory planning of an ego vehicle, the computer program product comprising instructions executing the method according to one of claims 1 to 7 when executed on a controller or a computer of the ego vehicle.

9. An apparatus for controlling a trajectory planning of an ego vehicle, wherein the

Device is adapted to the method according to one of claims 1 to 7

perform.

10. A vehicle comprising a device for controlling a trajectory planning of an ego vehicle, wherein the device is designed to carry out the method according to one of claims 1 to 7.